version: 66.12
glider: 401
mission: 20
dive: 148
start: 5 1 117 0 4 11
data:
$ID,401
$MISSION,20
$DIVE,148
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,110
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2412
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.144318
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,300417,235752,5711.5210,-16507.5605,2,0.9,47,11.0,1.7,319.6,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-42.5
$GPS2,010517,000310,5711.4922,-16507.6504,4,0.8,15,11.0,0.5,305.5,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.799,-16448.953
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.309163,0.195038
$KALMAN_X,-7034.266113,1720.089966,598.914551,42545.144531,-256.309814
$KALMAN_Y,11132.813477,364.941559,127.632759,-17325.050781,-275.993439
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,231,2033,1652,4094,0.0,0.0,0,34,0.00,0.00,-9.55,0.000,16390,0.000,0.000,232,2033,2690,2690,4094,0,0,0,0,0,0,26.03,25.20,26.04,9.91,35.62
$GC,36,-1.72,-439.9,232,2033,2690,4094,0.9,0.0,1,65,20.58,3.95,0.00,0.000,2564,0.410,0.228,1850,604,2693,2693,4094,0,0,0,0,0,0,25.46,25.44,25.53,10.12,35.82
$GC,105,-1.72,-439.9,1850,605,2694,4094,19.8,-27.9,6,120,0.00,3.67,0.00,0.000,1030,0.000,0.137,1851,1994,2694,2694,4094,0,0,0,0,0,0,25.68,25.60,25.70,10.13,36.02
$GC,182,-1.72,-439.9,1850,1994,2696,4094,29.5,-12.3,12,200,0.00,4.25,0.00,0.000,260,0.000,0.308,1850,3441,2696,2696,4095,0,0,0,0,0,0,26.02,25.57,26.03,10.13,35.15
$GC,229,-1.72,-439.9,1850,3441,2697,4094,35.3,-12.4,15,243,0.00,3.72,0.00,0.000,1030,0.000,0.134,1850,2039,2697,2697,4094,0,0,0,0,0,0,25.80,25.76,25.83,10.12,34.87
$GC,307,-1.72,-439.9,1850,2039,2698,4094,44.7,-11.8,21,321,0.00,4.05,0.00,0.000,516,0.000,0.266,1851,605,2699,2699,4094,0,0,0,0,0,0,26.13,25.67,26.14,10.12,34.56
$GC,367,-1.72,-439.9,1850,605,2700,4095,52.7,-13.6,25,381,0.00,3.72,0.00,0.000,1030,0.000,0.142,1850,2022,2700,2700,4095,0,0,0,0,0,0,25.89,25.84,25.93,10.12,34.40
$STATE,408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,412,-0.45,0.0,1850,2022,2701,4094,58.5,-13.3,28,446,4.57,0.00,26.38,4.363,10244,0.219,0.000,2259,2022,2174,2174,4094,0,0,0,0,0,0,25.87,25.01,23.89,10.11,34.56
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,448,1.72,439.9,2258,2022,2174,4094,61.4,0.0,30,503,7.60,4.10,26.25,4.283,10756,0.171,0.261,2945,610,1661,1661,4094,0,0,0,0,0,0,25.19,25.08,23.52,10.01,34.36
$GC,519,1.72,439.9,2944,610,1660,4094,57.1,8.4,34,533,0.00,3.83,0.00,0.000,1030,0.000,0.134,2945,2020,1660,1660,4094,0,0,0,0,0,0,25.06,25.01,25.09,9.91,33.81
$GC,596,1.72,439.9,2944,2020,1658,4094,46.6,13.3,40,610,0.00,4.20,0.00,0.000,260,0.000,0.286,2945,3439,1657,1657,4094,0,0,0,0,0,0,25.58,25.16,25.60,9.91,33.93
$GC,649,1.72,439.9,2944,3439,1656,4094,38.8,14.6,44,668,0.00,3.83,0.00,0.000,1030,0.000,0.127,2945,2018,1655,1655,4094,0,0,0,0,0,0,25.46,25.41,25.48,9.91,34.72
$GC,733,1.72,439.9,2944,2018,1654,4094,27.7,12.2,50,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2018,1653,1653,4094,0,0,0,0,0,0,25.84,25.86,25.85,9.91,33.93
$GC,811,1.72,439.9,2944,2018,1651,4094,17.9,12.7,56,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2018,1651,1651,4094,0,0,0,0,0,0,25.94,25.96,25.95,9.90,34.80
$GC,890,1.72,439.9,2944,2018,1649,4094,7.3,13.1,62,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2018,1649,1649,4094,0,0,0,0,0,0,26.02,26.04,26.03,9.91,35.19
$STATE,931,end climb,FINISH_DEPTH_REACHED
$STATE,931,begin subsurface finish
$FINISH1,1.6,1.025274,-159
$GC,935,-0.25,-159.2,2945,2017,1648,4094,1.6,13.6,65,955,6.40,0.00,-6.95,0.000,20486,0.142,0.000,2350,2015,2366,2366,4094,0,0,0,0,0,0,25.77,24.65,25.82,9.91,34.64
$FINISH2,0.3
$STATE,956,end subsurface finish,CONTROL_FINISHED_OK
$STATE,956,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,231623
$TT8_MAMPS,0.026215,0.262899
$HUMID,35.15
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.52,15.785
$10V_AH,8.80,11.201
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,39.150,39.325,52.625,0.000,0.000,22.364,34.837,169.143,0.500,0.000,17.208,248.571,0.000,107.752,896.095,45.538,33.438,375.825,0.000,650.768,0.000,7.327,0.000
$DEVICE_MAMPS,409.695,307.892,4362.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.557,84.491,141.874,364.242,626.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7357,66
$CAP_FILE_SIZE,25518,9
$CFSIZE,1024409600,1011236864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,000310,5711.492,-16507.650,4,0.8,15,11.0,0.5,305.5,10,4.7